SRI-Graph: A Novel Scene-Robot Interaction Graph for Robust Scene Understanding
Dong Yang,Xiao Xu,Mengchen Xiong,Edwin Babaians,Eckehard Steinbach,Dong Yang,Xiao Xu,Mengchen Xiong,Edwin Babaians,Eckehard Steinbach
We propose a novel scene-robot interaction graph (SRI-Graph) that exploits the known position of a mobile manipulator for robust and accurate scene understanding. Compared to the state-of-the-art scene graph approaches, the proposed SRI-Graph captures not only the relationships between the objects, but also the relationships between the robot manipulator and objects with which it interacts. To imp...
